
kalman:     file format elf64-littleaarch64


Disassembly of section .init:

00000000004004f8 <_init>:
  4004f8:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  4004fc:	910003fd 	mov	x29, sp
  400500:	94000036 	bl	4005d8 <call_weak_fn>
  400504:	a8c17bfd 	ldp	x29, x30, [sp], #16
  400508:	d65f03c0 	ret

Disassembly of section .plt:

0000000000400510 <.plt>:
  400510:	a9bf7bf0 	stp	x16, x30, [sp, #-16]!
  400514:	b0000090 	adrp	x16, 411000 <__FRAME_END__+0xfb50>
  400518:	f947fe11 	ldr	x17, [x16, #4088]
  40051c:	913fe210 	add	x16, x16, #0xff8
  400520:	d61f0220 	br	x17
  400524:	d503201f 	nop
  400528:	d503201f 	nop
  40052c:	d503201f 	nop

0000000000400530 <memcpy@plt>:
  400530:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400534:	f9400211 	ldr	x17, [x16]
  400538:	91000210 	add	x16, x16, #0x0
  40053c:	d61f0220 	br	x17

0000000000400540 <__libc_start_main@plt>:
  400540:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400544:	f9400611 	ldr	x17, [x16, #8]
  400548:	91002210 	add	x16, x16, #0x8
  40054c:	d61f0220 	br	x17

0000000000400550 <rand@plt>:
  400550:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400554:	f9400a11 	ldr	x17, [x16, #16]
  400558:	91004210 	add	x16, x16, #0x10
  40055c:	d61f0220 	br	x17

0000000000400560 <__gmon_start__@plt>:
  400560:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400564:	f9400e11 	ldr	x17, [x16, #24]
  400568:	91006210 	add	x16, x16, #0x18
  40056c:	d61f0220 	br	x17

0000000000400570 <abort@plt>:
  400570:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400574:	f9401211 	ldr	x17, [x16, #32]
  400578:	91008210 	add	x16, x16, #0x20
  40057c:	d61f0220 	br	x17

0000000000400580 <printf@plt>:
  400580:	d0000090 	adrp	x16, 412000 <memcpy@GLIBC_2.17>
  400584:	f9401611 	ldr	x17, [x16, #40]
  400588:	9100a210 	add	x16, x16, #0x28
  40058c:	d61f0220 	br	x17

Disassembly of section .text:

0000000000400590 <_start>:
  400590:	d280001d 	mov	x29, #0x0                   	// #0
  400594:	d280001e 	mov	x30, #0x0                   	// #0
  400598:	aa0003e5 	mov	x5, x0
  40059c:	f94003e1 	ldr	x1, [sp]
  4005a0:	910023e2 	add	x2, sp, #0x8
  4005a4:	910003e6 	mov	x6, sp
  4005a8:	580000c0 	ldr	x0, 4005c0 <_start+0x30>
  4005ac:	580000e3 	ldr	x3, 4005c8 <_start+0x38>
  4005b0:	58000104 	ldr	x4, 4005d0 <_start+0x40>
  4005b4:	97ffffe3 	bl	400540 <__libc_start_main@plt>
  4005b8:	97ffffee 	bl	400570 <abort@plt>
  4005bc:	00000000 	.inst	0x00000000 ; undefined
  4005c0:	00400c2c 	.word	0x00400c2c
  4005c4:	00000000 	.word	0x00000000
  4005c8:	00400d28 	.word	0x00400d28
  4005cc:	00000000 	.word	0x00000000
  4005d0:	00400da8 	.word	0x00400da8
  4005d4:	00000000 	.word	0x00000000

00000000004005d8 <call_weak_fn>:
  4005d8:	b0000080 	adrp	x0, 411000 <__FRAME_END__+0xfb50>
  4005dc:	f947f000 	ldr	x0, [x0, #4064]
  4005e0:	b4000040 	cbz	x0, 4005e8 <call_weak_fn+0x10>
  4005e4:	17ffffdf 	b	400560 <__gmon_start__@plt>
  4005e8:	d65f03c0 	ret
  4005ec:	00000000 	.inst	0x00000000 ; undefined

00000000004005f0 <deregister_tm_clones>:
  4005f0:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  4005f4:	91010000 	add	x0, x0, #0x40
  4005f8:	d0000081 	adrp	x1, 412000 <memcpy@GLIBC_2.17>
  4005fc:	91010021 	add	x1, x1, #0x40
  400600:	eb00003f 	cmp	x1, x0
  400604:	540000a0 	b.eq	400618 <deregister_tm_clones+0x28>  // b.none
  400608:	90000001 	adrp	x1, 400000 <_init-0x4f8>
  40060c:	f946e421 	ldr	x1, [x1, #3528]
  400610:	b4000041 	cbz	x1, 400618 <deregister_tm_clones+0x28>
  400614:	d61f0020 	br	x1
  400618:	d65f03c0 	ret
  40061c:	d503201f 	nop

0000000000400620 <register_tm_clones>:
  400620:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400624:	91010000 	add	x0, x0, #0x40
  400628:	d0000081 	adrp	x1, 412000 <memcpy@GLIBC_2.17>
  40062c:	91010021 	add	x1, x1, #0x40
  400630:	cb000021 	sub	x1, x1, x0
  400634:	9343fc21 	asr	x1, x1, #3
  400638:	8b41fc21 	add	x1, x1, x1, lsr #63
  40063c:	9341fc21 	asr	x1, x1, #1
  400640:	b40000a1 	cbz	x1, 400654 <register_tm_clones+0x34>
  400644:	90000002 	adrp	x2, 400000 <_init-0x4f8>
  400648:	f946e842 	ldr	x2, [x2, #3536]
  40064c:	b4000042 	cbz	x2, 400654 <register_tm_clones+0x34>
  400650:	d61f0040 	br	x2
  400654:	d65f03c0 	ret

0000000000400658 <__do_global_dtors_aux>:
  400658:	a9be7bfd 	stp	x29, x30, [sp, #-32]!
  40065c:	910003fd 	mov	x29, sp
  400660:	f9000bf3 	str	x19, [sp, #16]
  400664:	d0000093 	adrp	x19, 412000 <memcpy@GLIBC_2.17>
  400668:	39410260 	ldrb	w0, [x19, #64]
  40066c:	35000080 	cbnz	w0, 40067c <__do_global_dtors_aux+0x24>
  400670:	97ffffe0 	bl	4005f0 <deregister_tm_clones>
  400674:	52800020 	mov	w0, #0x1                   	// #1
  400678:	39010260 	strb	w0, [x19, #64]
  40067c:	f9400bf3 	ldr	x19, [sp, #16]
  400680:	a8c27bfd 	ldp	x29, x30, [sp], #32
  400684:	d65f03c0 	ret

0000000000400688 <frame_dummy>:
  400688:	17ffffe6 	b	400620 <register_tm_clones>

000000000040068c <frand>:
  40068c:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  400690:	910003fd 	mov	x29, sp
  400694:	97ffffaf 	bl	400550 <rand@plt>
  400698:	1e620000 	scvtf	d0, w0
  40069c:	b26a67e0 	mov	x0, #0xffffffc00000        	// #281474972516352
  4006a0:	f2e83be0 	movk	x0, #0x41df, lsl #48
  4006a4:	9e670001 	fmov	d1, x0
  4006a8:	1e611801 	fdiv	d1, d0, d1
  4006ac:	1e6c1000 	fmov	d0, #5.000000000000000000e-01
  4006b0:	1e603820 	fsub	d0, d1, d0
  4006b4:	1e602800 	fadd	d0, d0, d0
  4006b8:	a8c17bfd 	ldp	x29, x30, [sp], #16
  4006bc:	d65f03c0 	ret

00000000004006c0 <mainz_p>:
  4006c0:	a9ba7bfd 	stp	x29, x30, [sp, #-96]!
  4006c4:	910003fd 	mov	x29, sp
  4006c8:	fd000be8 	str	d8, [sp, #16]
  4006cc:	b9005fbf 	str	wzr, [x29, #92]
  4006d0:	529ae140 	mov	w0, #0xd70a                	// #55050
  4006d4:	72a79460 	movk	w0, #0x3ca3, lsl #16
  4006d8:	1e270000 	fmov	s0, w0
  4006dc:	bd005ba0 	str	s0, [x29, #88]
  4006e0:	528e9780 	mov	w0, #0x74bc                	// #29884
  4006e4:	72a79260 	movk	w0, #0x3c93, lsl #16
  4006e8:	1e270000 	fmov	s0, w0
  4006ec:	bd004ba0 	str	s0, [x29, #72]
  4006f0:	52981060 	mov	w0, #0xc083                	// #49283
  4006f4:	72a7e140 	movk	w0, #0x3f0a, lsl #16
  4006f8:	1e270000 	fmov	s0, w0
  4006fc:	bd0047a0 	str	s0, [x29, #68]
  400700:	528b8520 	mov	w0, #0x5c29                	// #23593
  400704:	72a7e1e0 	movk	w0, #0x3f0f, lsl #16
  400708:	1e270000 	fmov	s0, w0
  40070c:	bd0043a0 	str	s0, [x29, #64]
  400710:	b90057bf 	str	wzr, [x29, #84]
  400714:	b90053bf 	str	wzr, [x29, #80]
  400718:	bd4043a0 	ldr	s0, [x29, #64]
  40071c:	1e22c008 	fcvt	d8, s0
  400720:	97ffffdb 	bl	40068c <frand>
  400724:	1e604001 	fmov	d1, d0
  400728:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  40072c:	913ae000 	add	x0, x0, #0xeb8
  400730:	fd400000 	ldr	d0, [x0]
  400734:	1e600820 	fmul	d0, d1, d0
  400738:	1e602900 	fadd	d0, d8, d0
  40073c:	1e624000 	fcvt	s0, d0
  400740:	bd005fa0 	str	s0, [x29, #92]
  400744:	bd405fa0 	ldr	s0, [x29, #92]
  400748:	bd003fa0 	str	s0, [x29, #60]
  40074c:	b9004fbf 	str	wzr, [x29, #76]
  400750:	14000058 	b	4008b0 <mainz_p+0x1f0>
  400754:	bd405fa0 	ldr	s0, [x29, #92]
  400758:	bd003fa0 	str	s0, [x29, #60]
  40075c:	bd405ba1 	ldr	s1, [x29, #88]
  400760:	bd404ba0 	ldr	s0, [x29, #72]
  400764:	1e202820 	fadd	s0, s1, s0
  400768:	bd003ba0 	str	s0, [x29, #56]
  40076c:	bd403ba1 	ldr	s1, [x29, #56]
  400770:	bd4047a0 	ldr	s0, [x29, #68]
  400774:	1e202820 	fadd	s0, s1, s0
  400778:	bd403ba1 	ldr	s1, [x29, #56]
  40077c:	1e201820 	fdiv	s0, s1, s0
  400780:	bd0037a0 	str	s0, [x29, #52]
  400784:	bd4043a0 	ldr	s0, [x29, #64]
  400788:	1e22c008 	fcvt	d8, s0
  40078c:	97ffffc0 	bl	40068c <frand>
  400790:	1e604001 	fmov	d1, d0
  400794:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400798:	913ae000 	add	x0, x0, #0xeb8
  40079c:	fd400000 	ldr	d0, [x0]
  4007a0:	1e600820 	fmul	d0, d1, d0
  4007a4:	1e602900 	fadd	d0, d8, d0
  4007a8:	1e624000 	fcvt	s0, d0
  4007ac:	bd0033a0 	str	s0, [x29, #48]
  4007b0:	bd4033a1 	ldr	s1, [x29, #48]
  4007b4:	bd403fa0 	ldr	s0, [x29, #60]
  4007b8:	1e203821 	fsub	s1, s1, s0
  4007bc:	bd4037a0 	ldr	s0, [x29, #52]
  4007c0:	1e200820 	fmul	s0, s1, s0
  4007c4:	bd403fa1 	ldr	s1, [x29, #60]
  4007c8:	1e202820 	fadd	s0, s1, s0
  4007cc:	bd002fa0 	str	s0, [x29, #44]
  4007d0:	1e2e1001 	fmov	s1, #1.000000000000000000e+00
  4007d4:	bd4037a0 	ldr	s0, [x29, #52]
  4007d8:	1e203820 	fsub	s0, s1, s0
  4007dc:	bd403ba1 	ldr	s1, [x29, #56]
  4007e0:	1e200820 	fmul	s0, s1, s0
  4007e4:	bd002ba0 	str	s0, [x29, #40]
  4007e8:	bd4043a0 	ldr	s0, [x29, #64]
  4007ec:	1e22c000 	fcvt	d0, s0
  4007f0:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  4007f4:	91376000 	add	x0, x0, #0xdd8
  4007f8:	97ffff62 	bl	400580 <printf@plt>
  4007fc:	bd4033a0 	ldr	s0, [x29, #48]
  400800:	1e22c002 	fcvt	d2, s0
  400804:	bd4043a1 	ldr	s1, [x29, #64]
  400808:	bd4033a0 	ldr	s0, [x29, #48]
  40080c:	1e203820 	fsub	s0, s1, s0
  400810:	1e20c000 	fabs	s0, s0
  400814:	1e22c000 	fcvt	d0, s0
  400818:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  40081c:	9137e000 	add	x0, x0, #0xdf8
  400820:	1e604001 	fmov	d1, d0
  400824:	1e604040 	fmov	d0, d2
  400828:	97ffff56 	bl	400580 <printf@plt>
  40082c:	bd402fa0 	ldr	s0, [x29, #44]
  400830:	1e22c002 	fcvt	d2, s0
  400834:	bd4043a1 	ldr	s1, [x29, #64]
  400838:	bd402fa0 	ldr	s0, [x29, #44]
  40083c:	1e203820 	fsub	s0, s1, s0
  400840:	1e20c000 	fabs	s0, s0
  400844:	1e22c000 	fcvt	d0, s0
  400848:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  40084c:	91388000 	add	x0, x0, #0xe20
  400850:	1e604001 	fmov	d1, d0
  400854:	1e604040 	fmov	d0, d2
  400858:	97ffff4a 	bl	400580 <printf@plt>
  40085c:	bd4043a1 	ldr	s1, [x29, #64]
  400860:	bd402fa0 	ldr	s0, [x29, #44]
  400864:	1e203820 	fsub	s0, s1, s0
  400868:	1e20c000 	fabs	s0, s0
  40086c:	bd4057a1 	ldr	s1, [x29, #84]
  400870:	1e202820 	fadd	s0, s1, s0
  400874:	bd0057a0 	str	s0, [x29, #84]
  400878:	bd4043a1 	ldr	s1, [x29, #64]
  40087c:	bd4033a0 	ldr	s0, [x29, #48]
  400880:	1e203820 	fsub	s0, s1, s0
  400884:	1e20c000 	fabs	s0, s0
  400888:	bd4053a1 	ldr	s1, [x29, #80]
  40088c:	1e202820 	fadd	s0, s1, s0
  400890:	bd0053a0 	str	s0, [x29, #80]
  400894:	bd402ba0 	ldr	s0, [x29, #40]
  400898:	bd005ba0 	str	s0, [x29, #88]
  40089c:	bd402fa0 	ldr	s0, [x29, #44]
  4008a0:	bd005fa0 	str	s0, [x29, #92]
  4008a4:	b9404fa0 	ldr	w0, [x29, #76]
  4008a8:	11000400 	add	w0, w0, #0x1
  4008ac:	b9004fa0 	str	w0, [x29, #76]
  4008b0:	b9404fa0 	ldr	w0, [x29, #76]
  4008b4:	71004c1f 	cmp	w0, #0x13
  4008b8:	54fff4ed 	b.le	400754 <mainz_p+0x94>
  4008bc:	bd4053a0 	ldr	s0, [x29, #80]
  4008c0:	1e22c000 	fcvt	d0, s0
  4008c4:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  4008c8:	91392000 	add	x0, x0, #0xe48
  4008cc:	97ffff2d 	bl	400580 <printf@plt>
  4008d0:	bd4057a0 	ldr	s0, [x29, #84]
  4008d4:	1e22c000 	fcvt	d0, s0
  4008d8:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  4008dc:	9139a000 	add	x0, x0, #0xe68
  4008e0:	97ffff28 	bl	400580 <printf@plt>
  4008e4:	bd4053a0 	ldr	s0, [x29, #80]
  4008e8:	bd4057a1 	ldr	s1, [x29, #84]
  4008ec:	1e201820 	fdiv	s0, s1, s0
  4008f0:	52a85900 	mov	w0, #0x42c80000            	// #1120403456
  4008f4:	1e270001 	fmov	s1, w0
  4008f8:	1e210800 	fmul	s0, s0, s1
  4008fc:	1e380000 	fcvtzs	w0, s0
  400900:	52800c81 	mov	w1, #0x64                  	// #100
  400904:	4b000021 	sub	w1, w1, w0
  400908:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  40090c:	913a4000 	add	x0, x0, #0xe90
  400910:	97ffff1c 	bl	400580 <printf@plt>
  400914:	d503201f 	nop
  400918:	fd400be8 	ldr	d8, [sp, #16]
  40091c:	a8c67bfd 	ldp	x29, x30, [sp], #96
  400920:	d65f03c0 	ret

0000000000400924 <KalmanFilter_t>:
  400924:	a9b97bfd 	stp	x29, x30, [sp, #-112]!
  400928:	910003fd 	mov	x29, sp
  40092c:	f90017a0 	str	x0, [x29, #40]
  400930:	b90027a1 	str	w1, [x29, #36]
  400934:	fd000fa0 	str	d0, [x29, #24]
  400938:	fd000ba1 	str	d1, [x29, #16]
  40093c:	b9006fbf 	str	wzr, [x29, #108]
  400940:	529ae140 	mov	w0, #0xd70a                	// #55050
  400944:	72a79460 	movk	w0, #0x3ca3, lsl #16
  400948:	1e270000 	fmov	s0, w0
  40094c:	bd006ba0 	str	s0, [x29, #104]
  400950:	fd400fa0 	ldr	d0, [x29, #24]
  400954:	1e624000 	fcvt	s0, d0
  400958:	bd005ba0 	str	s0, [x29, #88]
  40095c:	fd400ba0 	ldr	d0, [x29, #16]
  400960:	1e624000 	fcvt	s0, d0
  400964:	bd0057a0 	str	s0, [x29, #84]
  400968:	529999a0 	mov	w0, #0xcccd                	// #52429
  40096c:	72a81180 	movk	w0, #0x408c, lsl #16
  400970:	1e270000 	fmov	s0, w0
  400974:	bd0053a0 	str	s0, [x29, #80]
  400978:	b90067bf 	str	wzr, [x29, #100]
  40097c:	b90063bf 	str	wzr, [x29, #96]
  400980:	bd4053a0 	ldr	s0, [x29, #80]
  400984:	bd006fa0 	str	s0, [x29, #108]
  400988:	bd406fa0 	ldr	s0, [x29, #108]
  40098c:	bd004fa0 	str	s0, [x29, #76]
  400990:	b9005fbf 	str	wzr, [x29, #92]
  400994:	14000054 	b	400ae4 <KalmanFilter_t+0x1c0>
  400998:	bd406fa0 	ldr	s0, [x29, #108]
  40099c:	bd004fa0 	str	s0, [x29, #76]
  4009a0:	bd406ba1 	ldr	s1, [x29, #104]
  4009a4:	bd405ba0 	ldr	s0, [x29, #88]
  4009a8:	1e202820 	fadd	s0, s1, s0
  4009ac:	bd004ba0 	str	s0, [x29, #72]
  4009b0:	bd404ba1 	ldr	s1, [x29, #72]
  4009b4:	bd4057a0 	ldr	s0, [x29, #84]
  4009b8:	1e202820 	fadd	s0, s1, s0
  4009bc:	bd404ba1 	ldr	s1, [x29, #72]
  4009c0:	1e201820 	fdiv	s0, s1, s0
  4009c4:	bd0047a0 	str	s0, [x29, #68]
  4009c8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4009cc:	d37df000 	lsl	x0, x0, #3
  4009d0:	f94017a1 	ldr	x1, [x29, #40]
  4009d4:	8b000020 	add	x0, x1, x0
  4009d8:	fd400000 	ldr	d0, [x0]
  4009dc:	1e624000 	fcvt	s0, d0
  4009e0:	bd0043a0 	str	s0, [x29, #64]
  4009e4:	bd4043a1 	ldr	s1, [x29, #64]
  4009e8:	bd404fa0 	ldr	s0, [x29, #76]
  4009ec:	1e203821 	fsub	s1, s1, s0
  4009f0:	bd4047a0 	ldr	s0, [x29, #68]
  4009f4:	1e200820 	fmul	s0, s1, s0
  4009f8:	bd404fa1 	ldr	s1, [x29, #76]
  4009fc:	1e202820 	fadd	s0, s1, s0
  400a00:	bd003fa0 	str	s0, [x29, #60]
  400a04:	1e2e1001 	fmov	s1, #1.000000000000000000e+00
  400a08:	bd4047a0 	ldr	s0, [x29, #68]
  400a0c:	1e203820 	fsub	s0, s1, s0
  400a10:	bd404ba1 	ldr	s1, [x29, #72]
  400a14:	1e200820 	fmul	s0, s1, s0
  400a18:	bd003ba0 	str	s0, [x29, #56]
  400a1c:	bd4053a0 	ldr	s0, [x29, #80]
  400a20:	1e22c000 	fcvt	d0, s0
  400a24:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400a28:	91376000 	add	x0, x0, #0xdd8
  400a2c:	97fffed5 	bl	400580 <printf@plt>
  400a30:	bd4043a0 	ldr	s0, [x29, #64]
  400a34:	1e22c002 	fcvt	d2, s0
  400a38:	bd4053a1 	ldr	s1, [x29, #80]
  400a3c:	bd4043a0 	ldr	s0, [x29, #64]
  400a40:	1e203820 	fsub	s0, s1, s0
  400a44:	1e20c000 	fabs	s0, s0
  400a48:	1e22c000 	fcvt	d0, s0
  400a4c:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400a50:	9137e000 	add	x0, x0, #0xdf8
  400a54:	1e604001 	fmov	d1, d0
  400a58:	1e604040 	fmov	d0, d2
  400a5c:	97fffec9 	bl	400580 <printf@plt>
  400a60:	bd403fa0 	ldr	s0, [x29, #60]
  400a64:	1e22c002 	fcvt	d2, s0
  400a68:	bd4053a1 	ldr	s1, [x29, #80]
  400a6c:	bd403fa0 	ldr	s0, [x29, #60]
  400a70:	1e203820 	fsub	s0, s1, s0
  400a74:	1e20c000 	fabs	s0, s0
  400a78:	1e22c000 	fcvt	d0, s0
  400a7c:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400a80:	91388000 	add	x0, x0, #0xe20
  400a84:	1e604001 	fmov	d1, d0
  400a88:	1e604040 	fmov	d0, d2
  400a8c:	97fffebd 	bl	400580 <printf@plt>
  400a90:	bd4053a1 	ldr	s1, [x29, #80]
  400a94:	bd403fa0 	ldr	s0, [x29, #60]
  400a98:	1e203820 	fsub	s0, s1, s0
  400a9c:	1e20c000 	fabs	s0, s0
  400aa0:	bd4067a1 	ldr	s1, [x29, #100]
  400aa4:	1e202820 	fadd	s0, s1, s0
  400aa8:	bd0067a0 	str	s0, [x29, #100]
  400aac:	bd4053a1 	ldr	s1, [x29, #80]
  400ab0:	bd4043a0 	ldr	s0, [x29, #64]
  400ab4:	1e203820 	fsub	s0, s1, s0
  400ab8:	1e20c000 	fabs	s0, s0
  400abc:	bd4063a1 	ldr	s1, [x29, #96]
  400ac0:	1e202820 	fadd	s0, s1, s0
  400ac4:	bd0063a0 	str	s0, [x29, #96]
  400ac8:	bd403ba0 	ldr	s0, [x29, #56]
  400acc:	bd006ba0 	str	s0, [x29, #104]
  400ad0:	bd403fa0 	ldr	s0, [x29, #60]
  400ad4:	bd006fa0 	str	s0, [x29, #108]
  400ad8:	b9405fa0 	ldr	w0, [x29, #92]
  400adc:	11000400 	add	w0, w0, #0x1
  400ae0:	b9005fa0 	str	w0, [x29, #92]
  400ae4:	b9405fa1 	ldr	w1, [x29, #92]
  400ae8:	b94027a0 	ldr	w0, [x29, #36]
  400aec:	6b00003f 	cmp	w1, w0
  400af0:	54fff54b 	b.lt	400998 <KalmanFilter_t+0x74>  // b.tstop
  400af4:	bd4063a0 	ldr	s0, [x29, #96]
  400af8:	1e22c000 	fcvt	d0, s0
  400afc:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400b00:	91392000 	add	x0, x0, #0xe48
  400b04:	97fffe9f 	bl	400580 <printf@plt>
  400b08:	bd4067a0 	ldr	s0, [x29, #100]
  400b0c:	1e22c000 	fcvt	d0, s0
  400b10:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400b14:	9139a000 	add	x0, x0, #0xe68
  400b18:	97fffe9a 	bl	400580 <printf@plt>
  400b1c:	bd4063a0 	ldr	s0, [x29, #96]
  400b20:	bd4067a1 	ldr	s1, [x29, #100]
  400b24:	1e201820 	fdiv	s0, s1, s0
  400b28:	52a85900 	mov	w0, #0x42c80000            	// #1120403456
  400b2c:	1e270001 	fmov	s1, w0
  400b30:	1e210800 	fmul	s0, s0, s1
  400b34:	1e380000 	fcvtzs	w0, s0
  400b38:	52800c81 	mov	w1, #0x64                  	// #100
  400b3c:	4b000021 	sub	w1, w1, w0
  400b40:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400b44:	913a4000 	add	x0, x0, #0xe90
  400b48:	97fffe8e 	bl	400580 <printf@plt>
  400b4c:	d503201f 	nop
  400b50:	a8c77bfd 	ldp	x29, x30, [sp], #112
  400b54:	d65f03c0 	ret

0000000000400b58 <KalmanFilter>:
  400b58:	d10183ff 	sub	sp, sp, #0x60
  400b5c:	fd000fe0 	str	d0, [sp, #24]
  400b60:	fd000be1 	str	d1, [sp, #16]
  400b64:	fd0007e2 	str	d2, [sp, #8]
  400b68:	fd4007e0 	ldr	d0, [sp, #8]
  400b6c:	fd002fe0 	str	d0, [sp, #88]
  400b70:	fd400be0 	ldr	d0, [sp, #16]
  400b74:	fd002be0 	str	d0, [sp, #80]
  400b78:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400b7c:	91012000 	add	x0, x0, #0x48
  400b80:	fd400000 	ldr	d0, [x0]
  400b84:	fd0027e0 	str	d0, [sp, #72]
  400b88:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400b8c:	91012000 	add	x0, x0, #0x48
  400b90:	fd400000 	ldr	d0, [x0]
  400b94:	fd0027e0 	str	d0, [sp, #72]
  400b98:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400b9c:	91014000 	add	x0, x0, #0x50
  400ba0:	fd400000 	ldr	d0, [x0]
  400ba4:	fd402be1 	ldr	d1, [sp, #80]
  400ba8:	1e602820 	fadd	d0, d1, d0
  400bac:	fd0023e0 	str	d0, [sp, #64]
  400bb0:	fd4023e1 	ldr	d1, [sp, #64]
  400bb4:	fd402fe0 	ldr	d0, [sp, #88]
  400bb8:	1e602820 	fadd	d0, d1, d0
  400bbc:	fd4023e1 	ldr	d1, [sp, #64]
  400bc0:	1e601820 	fdiv	d0, d1, d0
  400bc4:	fd001fe0 	str	d0, [sp, #56]
  400bc8:	fd400fe1 	ldr	d1, [sp, #24]
  400bcc:	fd4027e0 	ldr	d0, [sp, #72]
  400bd0:	1e603821 	fsub	d1, d1, d0
  400bd4:	fd401fe0 	ldr	d0, [sp, #56]
  400bd8:	1e600820 	fmul	d0, d1, d0
  400bdc:	fd4027e1 	ldr	d1, [sp, #72]
  400be0:	1e602820 	fadd	d0, d1, d0
  400be4:	fd001be0 	str	d0, [sp, #48]
  400be8:	1e6e1001 	fmov	d1, #1.000000000000000000e+00
  400bec:	fd401fe0 	ldr	d0, [sp, #56]
  400bf0:	1e603820 	fsub	d0, d1, d0
  400bf4:	fd4023e1 	ldr	d1, [sp, #64]
  400bf8:	1e600820 	fmul	d0, d1, d0
  400bfc:	fd0017e0 	str	d0, [sp, #40]
  400c00:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400c04:	91014000 	add	x0, x0, #0x50
  400c08:	fd4017e0 	ldr	d0, [sp, #40]
  400c0c:	fd000000 	str	d0, [x0]
  400c10:	d0000080 	adrp	x0, 412000 <memcpy@GLIBC_2.17>
  400c14:	91012000 	add	x0, x0, #0x48
  400c18:	fd401be0 	ldr	d0, [sp, #48]
  400c1c:	fd000000 	str	d0, [x0]
  400c20:	fd401be0 	ldr	d0, [sp, #48]
  400c24:	910183ff 	add	sp, sp, #0x60
  400c28:	d65f03c0 	ret

0000000000400c2c <main>:
  400c2c:	d11803ff 	sub	sp, sp, #0x600
  400c30:	a9007bfd 	stp	x29, x30, [sp]
  400c34:	910003fd 	mov	x29, sp
  400c38:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400c3c:	913b2001 	add	x1, x0, #0xec8
  400c40:	911003a0 	add	x0, x29, #0x400
  400c44:	aa0103e3 	mov	x3, x1
  400c48:	d2803e01 	mov	x1, #0x1f0                 	// #496
  400c4c:	aa0103e2 	mov	x2, x1
  400c50:	aa0303e1 	mov	x1, x3
  400c54:	97fffe37 	bl	400530 <memcpy@plt>
  400c58:	b0000000 	adrp	x0, 401000 <_IO_stdin_used+0x240>
  400c5c:	9102e001 	add	x1, x0, #0xb8
  400c60:	910a03a0 	add	x0, x29, #0x280
  400c64:	aa0103e3 	mov	x3, x1
  400c68:	d2803001 	mov	x1, #0x180                 	// #384
  400c6c:	aa0103e2 	mov	x2, x1
  400c70:	aa0303e1 	mov	x1, x3
  400c74:	97fffe2f 	bl	400530 <memcpy@plt>
  400c78:	b0000000 	adrp	x0, 401000 <_IO_stdin_used+0x240>
  400c7c:	9108e001 	add	x1, x0, #0x238
  400c80:	910403a0 	add	x0, x29, #0x100
  400c84:	aa0103e3 	mov	x3, x1
  400c88:	d2803001 	mov	x1, #0x180                 	// #384
  400c8c:	aa0103e2 	mov	x2, x1
  400c90:	aa0303e1 	mov	x1, x3
  400c94:	97fffe27 	bl	400530 <memcpy@plt>
  400c98:	b0000000 	adrp	x0, 401000 <_IO_stdin_used+0x240>
  400c9c:	910ee001 	add	x1, x0, #0x3b8
  400ca0:	910043a0 	add	x0, x29, #0x10
  400ca4:	aa0103e3 	mov	x3, x1
  400ca8:	d2801e01 	mov	x1, #0xf0                  	// #240
  400cac:	aa0103e2 	mov	x2, x1
  400cb0:	aa0303e1 	mov	x1, x3
  400cb4:	97fffe1f 	bl	400530 <memcpy@plt>
  400cb8:	b905ffbf 	str	wzr, [x29, #1532]
  400cbc:	14000014 	b	400d0c <main+0xe0>
  400cc0:	b985ffa0 	ldrsw	x0, [x29, #1532]
  400cc4:	d37df000 	lsl	x0, x0, #3
  400cc8:	910043a1 	add	x1, x29, #0x10
  400ccc:	fc606820 	ldr	d0, [x1, x0]
  400cd0:	b0000000 	adrp	x0, 401000 <_IO_stdin_used+0x240>
  400cd4:	9112a000 	add	x0, x0, #0x4a8
  400cd8:	fd400002 	ldr	d2, [x0]
  400cdc:	b0000000 	adrp	x0, 401000 <_IO_stdin_used+0x240>
  400ce0:	9112a000 	add	x0, x0, #0x4a8
  400ce4:	fd400001 	ldr	d1, [x0]
  400ce8:	97ffff9c 	bl	400b58 <KalmanFilter>
  400cec:	fd02fba0 	str	d0, [x29, #1520]
  400cf0:	90000000 	adrp	x0, 400000 <_init-0x4f8>
  400cf4:	913b0000 	add	x0, x0, #0xec0
  400cf8:	fd42fba0 	ldr	d0, [x29, #1520]
  400cfc:	97fffe21 	bl	400580 <printf@plt>
  400d00:	b945ffa0 	ldr	w0, [x29, #1532]
  400d04:	11000400 	add	w0, w0, #0x1
  400d08:	b905ffa0 	str	w0, [x29, #1532]
  400d0c:	b945ffa0 	ldr	w0, [x29, #1532]
  400d10:	7100741f 	cmp	w0, #0x1d
  400d14:	54fffd6d 	b.le	400cc0 <main+0x94>
  400d18:	d503201f 	nop
  400d1c:	a9407bfd 	ldp	x29, x30, [sp]
  400d20:	911803ff 	add	sp, sp, #0x600
  400d24:	d65f03c0 	ret

0000000000400d28 <__libc_csu_init>:
  400d28:	a9bc7bfd 	stp	x29, x30, [sp, #-64]!
  400d2c:	910003fd 	mov	x29, sp
  400d30:	a901d7f4 	stp	x20, x21, [sp, #24]
  400d34:	b0000094 	adrp	x20, 411000 <__FRAME_END__+0xfb50>
  400d38:	b0000095 	adrp	x21, 411000 <__FRAME_END__+0xfb50>
  400d3c:	91374294 	add	x20, x20, #0xdd0
  400d40:	913722b5 	add	x21, x21, #0xdc8
  400d44:	a902dff6 	stp	x22, x23, [sp, #40]
  400d48:	cb150294 	sub	x20, x20, x21
  400d4c:	f9001ff8 	str	x24, [sp, #56]
  400d50:	2a0003f6 	mov	w22, w0
  400d54:	aa0103f7 	mov	x23, x1
  400d58:	9343fe94 	asr	x20, x20, #3
  400d5c:	aa0203f8 	mov	x24, x2
  400d60:	97fffde6 	bl	4004f8 <_init>
  400d64:	b4000194 	cbz	x20, 400d94 <__libc_csu_init+0x6c>
  400d68:	f9000bb3 	str	x19, [x29, #16]
  400d6c:	d2800013 	mov	x19, #0x0                   	// #0
  400d70:	f8737aa3 	ldr	x3, [x21, x19, lsl #3]
  400d74:	aa1803e2 	mov	x2, x24
  400d78:	aa1703e1 	mov	x1, x23
  400d7c:	2a1603e0 	mov	w0, w22
  400d80:	91000673 	add	x19, x19, #0x1
  400d84:	d63f0060 	blr	x3
  400d88:	eb13029f 	cmp	x20, x19
  400d8c:	54ffff21 	b.ne	400d70 <__libc_csu_init+0x48>  // b.any
  400d90:	f9400bb3 	ldr	x19, [x29, #16]
  400d94:	a941d7f4 	ldp	x20, x21, [sp, #24]
  400d98:	a942dff6 	ldp	x22, x23, [sp, #40]
  400d9c:	f9401ff8 	ldr	x24, [sp, #56]
  400da0:	a8c47bfd 	ldp	x29, x30, [sp], #64
  400da4:	d65f03c0 	ret

0000000000400da8 <__libc_csu_fini>:
  400da8:	d65f03c0 	ret

Disassembly of section .fini:

0000000000400dac <_fini>:
  400dac:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  400db0:	910003fd 	mov	x29, sp
  400db4:	a8c17bfd 	ldp	x29, x30, [sp], #16
  400db8:	d65f03c0 	ret
